10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Block structure objects are used to carry information about the 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// dense block structure of sparse matrices. The BlockSparseMatrix 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// object uses the BlockStructure objects to keep track of the matrix 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// structure and operate upon it. This allows us to use more cache 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// friendly block oriented linear algebra operations on the matrix 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// instead of accessing it one scalar entry at a time. 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_ 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_INTERNAL_BLOCK_STRUCTURE_H_ 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/port.h" 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 4879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandeztypedef int32 BlockSize; 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct Block { 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Block() : size(-1), position(-1) {} 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Block(int size_, int position_) : size(size_), position(position_) {} 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong BlockSize size; 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int position; // Position along the row/column. 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct Cell { 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Cell() : block_id(-1), position(-1) {} 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Cell(int block_id_, int position_) 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong : block_id(block_id_), position(position_) {} 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Column or row block id as the case maybe. 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int block_id; 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Where in the values array of the jacobian is this cell located. 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int position; 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Order cell by their block_id; 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongbool CellLessThan(const Cell& lhs, const Cell& rhs); 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct CompressedList { 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Block block; 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<Cell> cells; 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongtypedef CompressedList CompressedRow; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongtypedef CompressedList CompressedColumn; 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct CompressedRowBlockStructure { 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<Block> cols; 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<CompressedRow> rows; 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct CompressedColumnBlockStructure { 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<Block> rows; 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<CompressedColumn> cols; 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_ 94